// Copyright (c) 2020, Viktor Larsson
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are met:
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#ifndef POSELIB_UGP3PS_H_
#define POSELIB_UGP3PS_H_

#include "PoseLib/camera_pose.h"

#include <Eigen/Dense>
#include <vector>

namespace poselib {

// Solves for camera pose such that: scale*p+lambda*x = R*X+t
// This is similar to the gp4ps problem but for upright cameras.
// Note: this impl. assumes that x has been normalized.
// If filter_solutions is true, only the best solution is returned.
int ugp3ps(const std::vector<Eigen::Vector3d> &p, const std::vector<Eigen::Vector3d> &x,
           const std::vector<Eigen::Vector3d> &X, CameraPoseVector *output, std::vector<double> *output_scale,
           bool filter_solutions = true);
}; // namespace poselib

#endif